constraints_storage.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2012, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVEIT_WAREHOUSE_CONSTRAINTS_STORAGE_
00038 #define MOVEIT_MOVEIT_WAREHOUSE_CONSTRAINTS_STORAGE_
00039 
00040 #include "moveit/warehouse/moveit_message_storage.h"
00041 #include <moveit/macros/class_forward.h>
00042 #include <moveit_msgs/Constraints.h>
00043 
00044 namespace moveit_warehouse
00045 {
00046 typedef mongo_ros::MessageWithMetadata<moveit_msgs::Constraints>::ConstPtr ConstraintsWithMetadata;
00047 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::Constraints> > ConstraintsCollection;
00048 
00049 MOVEIT_CLASS_FORWARD(ConstraintsStorage);
00050 
00051 class ConstraintsStorage : public MoveItMessageStorage
00052 {
00053 public:
00054   static const std::string DATABASE_NAME;
00055 
00056   static const std::string CONSTRAINTS_ID_NAME;
00057   static const std::string CONSTRAINTS_GROUP_NAME;
00058   static const std::string ROBOT_NAME;
00059 
00067   ConstraintsStorage(const std::string& host = "", const unsigned int port = 0, double wait_seconds = 5.0);
00068 
00069   void addConstraints(const moveit_msgs::Constraints& msg, const std::string& robot = "",
00070                       const std::string& group = "");
00071   bool hasConstraints(const std::string& name, const std::string& robot = "", const std::string& group = "") const;
00072   void getKnownConstraints(std::vector<std::string>& names, const std::string& robot = "",
00073                            const std::string& group = "") const;
00074   void getKnownConstraints(const std::string& regex, std::vector<std::string>& names, const std::string& robot = "",
00075                            const std::string& group = "") const;
00076 
00078   bool getConstraints(ConstraintsWithMetadata& msg_m, const std::string& name, const std::string& robot = "",
00079                       const std::string& group = "") const;
00080 
00081   void renameConstraints(const std::string& old_name, const std::string& new_name, const std::string& robot = "",
00082                          const std::string& group = "");
00083 
00084   void removeConstraints(const std::string& name, const std::string& robot = "", const std::string& group = "");
00085 
00086   void reset();
00087 
00088 private:
00089   void createCollections();
00090 
00091   ConstraintsCollection constraints_collection_;
00092 };
00093 }
00094 
00095 #endif


warehouse
Author(s): Ioan Sucan
autogenerated on Mon Apr 23 2018 10:25:48